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Descripción
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| We present a vision based control strategy for tracking and following objects using an Unmanned Aerial Vehicle. We have developed an image based visual servoing method that uses only a forward looking camera for tracking and following objects from a multi-rotor UAV, without any dependence on GPS systems. Our proposed method tracks a user specified object continuously while maintaining a fixed distance from the object and also simultaneously keeping it in the center of the image plane. The algorithm is validated using a Parrot AR Drone 2.0 in outdoor conditions while tracking and following people, occlusions and also fast moving objects; showing the robustness of the proposed systems against perturbations and illumination changes. Our experiments show that the system is able to track a great variety of objects present in suburban areas, among others: people, windows, AC machines, cars and plants. | |
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Internacional
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No |
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Nombre congreso
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The 2013 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2013) |
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Tipo de participación
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960 |
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Lugar del congreso
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Linkoping (Sweeden) |
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Revisores
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Si |
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ISBN o ISSN
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978-1-4799-0879-0 |
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DOI
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10.1109/SSRR.2013.6719359 |
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Fecha inicio congreso
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21/10/2013 |
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Fecha fin congreso
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26/10/2013 |
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Desde la página
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1 |
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Hasta la página
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6 |
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Título de las actas
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Vision based GPS-denied Object tracking and Following for Unmanned Aerial Vehicles |